CN110539799B - Layered framework man-machine co-driving system based on driver state - Google Patents

Layered framework man-machine co-driving system based on driver state Download PDF

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CN110539799B
CN110539799B CN201910954724.2A CN201910954724A CN110539799B CN 110539799 B CN110539799 B CN 110539799B CN 201910954724 A CN201910954724 A CN 201910954724A CN 110539799 B CN110539799 B CN 110539799B
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driver
driving
steering
automobile
module
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CN110539799A (en
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郑宏宇
常宇鹏
蒋权
周健
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system

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Abstract

The invention discloses a layered framework man-machine co-driving system based on a driver state, which belongs to the field of intelligent automobile decision making. The system can also adjust the driving-right decision making proportion of the auxiliary driving system according to the state of the children in the automobile, and control the automobile to safely run under the condition that the children in the automobile can be accepted.

Description

Layered framework man-machine co-driving system based on driver state
Technical Field
The invention belongs to the field of intelligent automobile decision making, and particularly relates to a layered framework man-machine co-driving system based on a driver state.
Background
The intelligent automobile is an advanced driving system integrating ambient environment perception, driver operation perception, intelligent decision and other technologies. In recent years, the rapid development of artificial intelligence technology, storage technology and network technology has also led intelligent vehicles to move toward higher levels, and intelligent vehicles will perform more basic driving operations and more complex operations instead of human drivers. According to the regulations of the National Highway Traffic Safety Administration (NHTSA) and Society of Automotive Engineers (SAE), the automatic driving system is divided into 6 levels of L0 to L5, from full manual driving of L0 to full automatic driving of L5. However, due to the ethical problem and the coordination problem with other vehicles, the realization of the full-automatic driving vehicle of the level L5 is difficult at present, and a relatively simple man-machine common driving system of the vehicle of the level L2-L4 becomes a key point of attention of people.
The man-machine co-driving system obtains personalized data and other methods through a model optimization method and preliminary experiments, predicts the input turning angle, driving track and other information of a steering wheel of a driver according to the behavior and operation of the driver, and performs corresponding driver driving assistance so as to achieve the aim of enabling an automobile to safely and accurately drive.
Chinese patent CN106347449A discloses a man-machine co-driving type electric power steering system and a mode switching method, wherein a rear-mounted torque/steering angle sensor is installed on the existing electric power steering system, and the operation of a driving motor is controlled by detecting and calculating a safety value of a yaw angular velocity at the current vehicle speed, so as to realize the conversion between a human driving mode and a machine driving mode, but only the steering under an ideal condition is involved, and the influence caused by the behavior of a driver is not considered.
Disclosure of Invention
In order to systematically consider the influence of the driver behavior, the invention provides a layered framework man-machine co-driving system based on the state of a driver;
to achieve the above object, the present invention adopts the following solutions:
a layered framework man-machine co-driving system based on a driver state is characterized by comprising an automobile driving state acquisition system, a personnel information acquisition system, an auxiliary driving system and a man-machine co-driving stability judgment and coordination system;
the automobile driving state acquisition system is used for acquiring the automobile speed, the automobile front wheel turning angle, the steering shaft load and the tire air pressure of a steering system, the automobile lateral acceleration and the automobile longitudinal acceleration, and the vertical acceleration, the yaw velocity and the roll angle of an automobile and a child seat;
the system comprises a personnel information acquisition system, a data processing system and a data processing system, wherein the personnel information acquisition system is used for acquiring the input torque of a steering wheel of a driver, the input corner of the steering wheel of the driver and the facial expression of the driver;
the auxiliary driving system is used for judging the driving state of a driver according to the collected information output by the personnel information collection system, distributing driving right, controlling the turning angle of a front wheel and giving different alarms according to different specific conditions;
and the human-computer co-driving stability judging and coordinating system is used for detecting whether a driver is satisfied with the human-computer co-driving system in real time and adjusting a human-computer co-driving strategy.
In the above scheme, the automobile driving state acquisition system acquires left front wheel steering angle information by using a displacement sensor mounted on a suspension guide mechanism, and the right front wheel steering angle is obtained by obtaining the relationship of the left front wheel steering angle under different tire pressures through a calibration system, specifically:
θr＝k1θl 2+k2θl+b
wherein, thetarIs the right front wheel angle, thetalFor left front wheel rotationFitting according to experimental data under different tire pressures to obtain the parameter value k in the formula1＝-0.0085，k2＝1.1137，b＝0；
Measuring the load of a steering shaft of a steering system by using a strain gauge arranged on the steering shaft, detecting the yaw angular velocity and the roll angle of the automobile by using a gyroscope arranged in the center of a chassis, measuring the vertical acceleration, the yaw angular velocity and the roll angle of a child seat by using a gyroscope arranged on a rear child seat, and measuring the lateral acceleration, the longitudinal acceleration and the vertical acceleration of the automobile by using an acceleration sensor arranged on the automobile;
the dynamic centroid position of the child seat is obtained by measuring the actual weight of the child passenger by the child seat basic centroid data and a gravity sensor arranged on the child seat, estimating the height information of the child according to the weight of the child passenger, and finally weighting and averaging the child seat basic centroid data and the measured weight and height data of the child passenger to obtain the estimated dynamic centroid position of the child seat;
in the scheme, the personnel information acquisition system comprises a driver operation acquisition module, a driver state acquisition module, a driver facial expression acquisition module and an in-vehicle personnel interaction degree detection module;
the driver operation acquisition module is used for periodically acquiring the input torque of a steering wheel and the input angular acceleration of the steering wheel of a driver by utilizing a torque sensor and an angular acceleration sensor which are arranged on a steering transmission mechanism, the current vehicle speed is set as v, the unit km/h, the data acquisition interval coefficient is set as z, and when v is greater than 140km/h, the value of z is 0.1; when v is 140km/h or less, it is as follows
Figure BDA0002226903460000021
Inputting corner information according to a driver steering wheel acquired by a personnel information acquisition system;
if the turning angle of the steering wheel input by the driver is less than 60 degrees, the data acquisition interval between two adjacent times is 0.1z second;
if the steering wheel rotation angle input by the driver is more than or equal to 60 degrees and less than 120 degrees, the data acquisition interval between two adjacent times is 0.05z seconds;
if the steering wheel rotation angle input by the driver is larger than or equal to 120 degrees, the data acquisition interval of two adjacent times is 0.02z seconds;
the system comprises a driver state acquisition module, a control module and a display module, wherein the driver state acquisition module is used for judging whether a driver has a behavior of answering a call by utilizing in-vehicle camera equipment and capturing the blinking frequency, the right head steering angle and the age of a rear child of the driver;
the driver facial expression acquisition module is used for acquiring angry expressions, happy expressions, sad expressions, surprised expressions, disgust expressions, fear expressions and nervous expressions which are presented by the face of a driver and acquiring whether children on the back row child seat have the sad expressions or not;
the vehicle-interior personnel interaction degree detection module is used for detecting the communication time of a driver with front and rear row passengers and the time of the driver watching the front and rear row passengers;
in the scheme, the driving assistance system comprises a driver driving state judgment module, a driving right distribution module, a steering control module and an alarm module;
the driver driving state judging module is used for dividing the driving behavior of the driver into three conditions of normal, distraction and acceleration according to the information collected by the driver operation collecting module and the driver state collecting module;
the driving right distribution module is used for distributing the driving right of the driver and the auxiliary driving system when the driver driving state judgment module judges that the driver is distracted;
the steering control module is used for controlling the rotation angle of the front wheel of the automobile to be within the range of 0-40 degrees under the condition that the driver driving state judging module judges that the driver aggressively drives;
and the alarm module is used for carrying out noise alarm, pedal vibration alarm, seat vibration alarm, camera flickering alarm, steering wheel vibration alarm and conversation alarm when the driver driving state judgment module judges that the driver is distracted or drives violently, wherein the conversation alarm comprises voices of 'please pay attention to driving when the driver considers the child', 'please pay attention to driving', 'please keep the rear passengers quiet' and 'please slow down the driver'.
In the above scheme, the driver driving state preliminary judgment method, which is performed by the driver driving state judgment module, comprises the following steps:
first preset threshold M of auxiliary driving systemaThe solution is that the driver needs to apply a steering torque to the steering wheel to overcome the resistance of the automobile steering system
Figure BDA0002226903460000022
Wherein, JsTo the moment of inertia of the steering column, isIs the transmission ratio, delta is the front wheel angle, bsT is a steering column damping ratio and is acquired by an automobile driving state acquisition systemrFor steering wheel aligning torque, TzOutputting torque for a steering power-assisted system;
before a driver drives an automobile, the driver is firstly pretested to obtain the minimum steering wheel input torque M of the driver when the speed of the automobile is 50km/hgThe value of which and the steering torque M which the driver needs to apply to the steering wheel in order to overcome the resistance of the steering system of the vehicleaComparing, and setting the larger one as a first preset threshold value;
the standard steering wheel input torque of the driver is defined as a second preset threshold value M of the auxiliary driving systembHaving a value of
Figure BDA0002226903460000031
Wherein D isswIs the diameter of the steering wheel, R is the wheel radius, ipIs a steering power transmission ratio;
MRis a steering resisting moment with a value of
Figure BDA0002226903460000032
Wherein f is the sliding friction coefficient between the tire and the road surface, G is the steering shaft load of the steering system and is acquired by the automobile running state acquisition system, and p is the tire air pressure and is acquired by the automobile running state acquisition system;
ultimate steering wheel input moment M of drivercObtained by performing a prediction experiment on a driver;
the steering wheel moment input boundary value of the driver at the speed of 50km/h is obtained by performing AND test on the driver, and the boundary values are respectively M from large to smalld、Me；
When the driver operates the moment M to input, the driving state of the driver is preliminarily judged according to the moment range of the driver, and the judging method comprises the following steps:
1) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]e，Md]The input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And the vehicle speed is less than 40km/h and the input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And when the vehicle is more than 80km/h, judging that the driver drives normally;
2) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]a，Me]When the vehicle speed is more than 40km/h and less than 80km/h, judging that the driver is distracted to drive;
3) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]d，Mc]And when the vehicle speed is more than 80km/h, judging that the driver drives intensively;
in the above scheme, the preliminary judgment method for the driver state judgment is subdivided into the following cases:
1) when the driver is judged to drive normally in the initial step, the system does not carry out auxiliary operation;
2) when the driver is judged to be distracted to drive in the initial step, the next judgment stage is carried out:
firstly, when the range of the front wheel rotation angle is detected to be 0-5 degrees, the distraction degree of a driver is judged to be C1, if the driver state acquisition module acquires at least one of the telephone answering behavior of the driver, the rightward rotation of the head of the driver is more than or equal to 90 degrees and the blinking frequency of the driver is less than 15 times per second, the system carries out noise alarm, seat vibration alarm and steering wheel vibration alarm;
secondly, when the range of the front wheel steering angle is detected to be 5-10 degrees, the distraction degree of the driver is judged to be C2, and the system carries out noise alarm and steering wheel vibration alarm;
thirdly, when the detected front wheel rotation angle is larger than 10 degrees, when the detected front wheel rotation angle is detected, whether the communication time between the driver and other passengers in the vehicle is more than or equal to 5 seconds, the time of watching the other passengers in the vehicle is more than or equal to 3 seconds, the right steering angle of the head of the driver is more than 90 degrees, and the direction of watching the child seat is more than or equal to 2 seconds or at least one of the two is detected, the passive distraction of the driver is judged, and the distraction degree of the driver is judged to be C3;
and finally, when the head of the driver is detected to rotate, the driver looks sideways and does not rotate back to the front within 3 seconds, the driver is judged to be distracted actively, the distraction degree is judged to be C4, if the distraction driving is cancelled, the driving state of the driver is recovered, and the driver is judged to be driving normally.
3) When the driver is judged to drive intensively in the initial step, the next judgment stage is carried out:
firstly, when the driver operates an acquisition module to acquire that the input angular acceleration of a steering wheel of the driver is continuously increased within 1 second, judging that the state of the driver is D1, and carrying out noise alarm, pedal vibration alarm, seat vibration alarm and steering wheel vibration alarm by a system;
secondly, when the driver operation acquisition module acquires that the input angular acceleration of the steering wheel of the driver does not increase within 1 second, the state of the driver is judged to be D2, and the input angular acceleration value of the steering wheel of the driver is detected to be decreased within 3 seconds, and the system recovers the driving state of the driver and judges that the driver drives normally. Otherwise, the driver state decision D2 is maintained, and a noise warning and a seat vibration warning are performed.
In the above solution, the dynamic right-to-drive allocation device and the dynamic right-to-drive allocation method:
the dynamic driving right distribution device comprises a driver steering wheel torque input sensor, a dynamic driving right distribution electronic control element, a front wheel steering motor and a steering gear;
when a driver rotates a steering wheel, a driver steering wheel torque input sensor detects the input of the driver steering wheel torque, converts the input of the driver steering wheel torque into an electric signal and sends the electric signal to a dynamic allocation driving right electronic control element, the dynamic allocation driving right electronic control element calculates the torque which the front wheel steering motor should output according to a dynamic allocation driving right method set in the dynamic allocation driving right electronic control element, sends the electric signal to the front wheel steering motor, controls the front wheel steering motor to output the steering torque decided by the dynamic allocation driving right electronic control element, and controls a steering gear to finish steering.
When the driver driving state judging module judges that the driving state of the driver is C1 and C2, the driving right distribution module is started, when the driver rotates the steering wheel, the driver steering wheel torque input sensor sends the detected driver steering wheel input torque to the dynamic distribution driving right electronic control element, and the dynamic distribution driving right method set in the dynamic distribution driving right electronic control element is as follows: the driver inputs the torque M to the steering wheel so as to lead the driving right distribution coefficient of the driver
Figure BDA0002226903460000041
The driving weight distribution coefficient of the automobile system is
σ2＝1-σ1
The final steering wheel input torque is
MGeneral assembly＝σ1Mb+σ2M
In the above scheme, the method for fuzzy control of the automobile turning angle comprises the following steps:
when the system judges that the driving state of the driver is D1 and D2, a steering control module in the auxiliary driving system is started, the control method used by the module is a fuzzy control method, the fuzzy control method is output as the front wheel turning angle of the automobile, the fuzzy set of the front wheel turning angle is defined as Positive Big (PB), Positive Small (PS), normal (Z), Negative Small (NS) and negative small (NB), and the fuzzy rule is defined as follows, wherein V is the speed of the automobile, Y is the distance of the automobile from the center line of the road, PB is more deviated to the inner side of the road, PS is less deviated to the inner side of the road, Z is in the middle of the road, NS is less deviated to the outer side of the road, and NB is more deviated to the outer side of the road.
The fuzzy control rule is
Figure BDA0002226903460000042
In the above scheme, the human-computer co-driving effective judgment and coordination system includes a driver facial expression ratio extraction module, a human-computer co-driving effective judgment module, and a human-computer co-driving coordination module:
the facial expression ratio extraction module of the driver is used for receiving the current expression of the driver acquired by the facial expression acquisition module of the driver, analyzing and calculating the proportion of each expression of the anger expression, the happy expression, the sad expression, the surprised expression, the disgust expression, the fear expression and other expressions, and meeting the requirements of the angry expression ratio A, the happy expression ratio B, the sad expression ratio C, the surprised expression ratio D, the disgust expression ratio E, the fear expression ratio F, the tension expression ratio G and other expression ratios H of the driver
A+B+C+D+E+F+G+H＝1
The human-computer driving sharing effective judgment module is used for judging whether a human-computer driving sharing system is in a stable state or not, and the judgment method comprises the following steps:
when the happy expression proportion in the facial expressions of the driver is extracted by the facial expression proportion extraction module to be more than or equal to 50%, and when the happy expression proportion in the facial expressions of the driver is extracted by the facial expression proportion extraction module to be less than 50% but the happy expression proportion is the most and the expression proportions except the happy expressions are less than 10%, judging that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system are effective, and judging that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system cannot reach the expected purpose under other conditions, namely that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system are unsatisfactory by the driver;
determining that the driving weight distribution decision and the front wheel steering angle decision executed by the assistant driving system fail to achieve the expected purpose under the conditions except the above conditions, namely that the driver is unsatisfied with the driving weight distribution decision and the front wheel steering angle decision executed by the assistant driving system;
the man-machine co-driving coordination module is used for adjusting the driving right distribution decision and the front wheel steering decision executed by the assistant driving system and observing the coordination method of happy expression proportion and nervous expression proportion in the facial expression proportion extraction module of the driver after decision adjustment when the man-machine co-driving effective judgment module judges that the driving right distribution decision and the front wheel steering decision executed by the assistant driving system by the driver are not satisfied:
when the driver is dissatisfied with the driving right distribution decision and the front wheel steering decision executed by the assistant driving system:
if the driver state is judged to be C1 and C2, the driving right distribution module is enabled to promote the driving right of the driver by 10 percent, after the driving right of the driver is promoted, when the facial expression proportion extraction module extracts that the happy expression proportion in the facial expressions of the driver is increased, the driver continues to promote the driving right of the driver by 10 percent until the happy expression proportion of the driver is more than or equal to 50 percent, the upper limit of the driving right of the driver is set to be 80 percent, and when the situation that the happy expression proportion of the driver is not increased after the driving right of the driver is promoted is detected, the situation that the driver is still unsatisfied with decision making of an auxiliary driving system is proved, the driving right distribution module is enabled to stop working;
if the state of the driver is judged to be C3, when the interaction degree detection module of the people in the automobile detects that the communication time between the driver and other passengers in the automobile is more than or equal to 5 seconds and the time of watching the other passengers in the automobile is more than or equal to 3 seconds, the driver is determined to be distracted and driven due to other reasons, and the longitudinal acceleration of the automobile is controlled to be less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively';
when the fact that the head of a driver turns rightwards at an angle larger than 90 degrees is detected, the direction of the driver watching the child seat is larger than or equal to 2 seconds, the tense expression proportion of the driver is larger than the happy expression proportion of the driver, the driving behavior of the driver is determined to be influenced by the child, and then the longitudinal acceleration of the automobile is controlled to be smaller than 0.8m/s2The yaw angular velocity is less than 4m/s2And collecting according to driver stateThe module collects the age information of the children in the back row, if the age of the children is in the range of 0-3 years, conversation alarm is carried out, and voice of 'please drive driver to pay attention to driving when the children are considered' is played;
if the age of the child is within the range of 4-8 years, carrying out conversation alarm and playing voice of 'please concentrate on driving' for the driver;
if the age of the child is 9 years old or more, carrying out conversation alarm and playing a voice of 'please keep the back row passenger quiet';
if the driver state is judged to be C4 at the moment, the driver is judged to be in active distraction driving, and the longitudinal acceleration of the automobile is controlled to be less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively';
if the driver state is judged to be D1 and D2 at the moment, the automobile driving state acquisition system acquires that the roll angle of the rear row child seat in the automobile is more than 20 degrees and the proportion of sad expressions of the children in the automobile is more than 50%, the automobile driving state acquisition system judges that the automobile driving state is a special case, a camera flickering alarm is carried out for 3 seconds, if the driver does not respond to the alarm, the camera flickering alarm is closed, the driving right distribution module stops working, the driver operates the automobile driving state acquisition system by himself, and only the lateral acceleration of the automobile is controlled to be less than 3m/s2The yaw angular velocity is less than 4m/s2And the front wheel steering angle is less than 30 degrees so as to ensure the safety of personnel in the vehicle, otherwise, the driving right is completely returned to the driver.
In the above scheme, the layered architecture man-machine co-driving system based on the driver state can judge the driving smoothness and the operation stability of the automobile and make adjustments:
detecting the acceleration of the automobile in the vertical direction and the acceleration of the rear row child seat in the vertical direction, and if the acceleration of the rear row child seat in the vertical direction is lower than 70% of the acceleration of the automobile in the vertical direction, evaluating that the automobile has good running smoothness; if the acceleration of the rear row child seat in the vertical direction is more than or equal to 70% of the acceleration of the automobile in the vertical direction, and the proportion of the sad expressions of the children in the automobile is more than or equal to 50%, in order to take care of the low bearing capacity of the rear row children and reduce the sitting sense of the rear row children, the voice of 'please slow down and walk by the driver' is played until the proportion of the sad expressions of the children in the automobile is less than 50%;
detecting the roll angle of the automobile and the roll angle of the rear row child seat, and if the roll angle of the rear row child seat is lower than 50% of the roll angle value of the automobile, evaluating that the comfort of the automobile is good; if the roll angle of the rear row child seat is more than or equal to 50% of the roll angle value of the automobile and the proportion of the sad expressions of the children in the automobile is more than or equal to 50%, controlling the lateral acceleration of the automobile to be less than 3m/s2Controlling the yaw angular speed of the child seat to be less than 4m/s2The proportion of the sadness expressions of the children in the car is less than 50 percent.
Drawings
FIG. 1 is a schematic structural diagram of a human-computer co-driving system based on a driver state;
fig. 2 driver state recognition and driving assistance method in fig. 1.
Detailed Description
The invention is explained in more detail below with reference to the figures and the embodiments
As shown in fig. 1, the layered architecture human-machine co-driving system based on the driver state of the invention comprises an automobile driving state acquisition system, a personnel information acquisition system, an auxiliary driving system and a human-machine co-driving stability judgment and coordination system;
the automobile driving state acquisition system is used for acquiring the automobile speed, the automobile front wheel turning angle, the steering shaft load and the tire air pressure of a steering system, the automobile lateral acceleration and the automobile longitudinal acceleration, and the vertical acceleration, the yaw velocity and the roll angle of an automobile and a child seat; the system comprises a personnel information acquisition system, a data processing system and a data processing system, wherein the personnel information acquisition system is used for acquiring the input torque of a steering wheel of a driver, the input corner of the steering wheel of the driver and the facial expression of the driver; the auxiliary driving system is used for judging the driving state of a driver according to the collected information output by the personnel information collection system, distributing driving right, controlling the turning angle of a front wheel and giving different alarms according to different specific conditions; and the human-computer co-driving stability judging and coordinating system is used for detecting whether a driver is satisfied with the human-computer co-driving system in real time and adjusting a human-computer co-driving strategy.
The automobile driving state acquisition system acquires left front wheel corner information by using a displacement sensor arranged on a suspension guide mechanism, and the right front wheel corner is obtained by obtaining the relation of the left front wheel corner under different tire pressures through a calibration system, and specifically comprises the following steps:
θr＝k1θl 2+k2θl+b
wherein, thetarIs the right front wheel angle, thetalThe corner of the left front wheel is obtained by fitting the experimental data to obtain the parameter value k in the formula1＝-0.0085，k2＝1.1137，b＝0；
The method comprises the steps of measuring the load of a steering shaft of a steering system by using a strain gauge arranged on the steering shaft, detecting the yaw angular velocity and the roll angle of an automobile by using a gyroscope installed in the center of a chassis, measuring the vertical acceleration, the yaw angular velocity and the roll angle of a child seat by using a gyroscope installed on a rear child seat, wherein the dynamic mass center position of the child seat taken by different children is obtained by performing parameter estimation and calculation on the weight information and the height information of the children, and measuring the lateral acceleration, the longitudinal acceleration and the vertical acceleration of the automobile by using an acceleration sensor installed on the automobile.
The personnel information acquisition system comprises a driver operation acquisition module, a driver state acquisition module, a driver facial expression acquisition module and an in-vehicle personnel interaction degree detection module;
the driver operation acquisition module is used for periodically acquiring the input torque of a steering wheel and the input angular acceleration of the steering wheel of a driver by utilizing a torque sensor and an angular acceleration sensor which are arranged on a steering transmission mechanism, the current vehicle speed is set as v, the unit km/h, the data acquisition interval coefficient is set as z, and when v is greater than 140km/h, the value of z is 0.1; when v is 140km/h or less, it is as follows
Figure BDA0002226903460000061
According to the information of the turn angle input by the steering wheel of the driver, which is acquired by the personnel information acquisition system, if the turn angle input by the driver is less than 60 degrees, the data acquisition interval of two adjacent times is 0.1z second; if the steering wheel rotation angle input by the driver is more than or equal to 60 degrees and less than 120 degrees, the data acquisition interval between two adjacent times is 0.05z seconds; if the steering wheel rotation angle input by the driver is larger than or equal to 120 degrees, the data acquisition interval of two adjacent times is 0.02z seconds;
the system comprises a driver state acquisition module, a control module and a display module, wherein the driver state acquisition module is used for judging whether a driver has a behavior of answering a call by utilizing in-vehicle camera equipment and capturing the blinking frequency, the right head steering angle and the age of a rear child of the driver;
the driver facial expression acquisition module is used for acquiring angry expressions, happy expressions, sad expressions, surprised expressions, disgust expressions, fear expressions and nervous expressions which are presented by the face of a driver and acquiring whether children on the back row child seat have the sad expressions or not;
and the in-vehicle personnel interaction degree detection module is used for detecting the communication time of the driver with the front and rear row passengers and the time of the driver watching the front and rear row passengers.
The auxiliary driving system comprises a driver driving state judging module, a driving right distributing module, a steering control module and an alarm module;
the driver driving state judging module is used for dividing the driving behavior of the driver into three conditions of normal, distraction and acceleration according to the information collected by the driver operation collecting module and the driver state collecting module;
the driving right distribution module is used for distributing the driving right of the driver and the auxiliary driving system when the driver driving state judgment module judges that the driver is distracted;
the steering control module is used for controlling the rotation angle of the front wheel of the automobile to be within the range of 0-40 degrees under the condition that the driver driving state judging module judges that the driver aggressively drives;
and the alarm module is used for carrying out noise alarm, pedal vibration alarm, seat vibration alarm, camera flickering alarm, steering wheel vibration alarm and conversation alarm when the driver driving state judgment module judges that the driver is distracted or drives violently, wherein the conversation alarm comprises voices of 'please pay attention to driving when the driver considers the child', 'please pay attention to driving', 'please keep the rear passengers quiet' and 'please slow down the driver'.
The driver driving state preliminary judgment method for the driver driving state judgment module to judge comprises the following steps:
first preset threshold M of auxiliary driving systemaThe solution is that the driver needs to apply a steering torque to the steering wheel to overcome the resistance of the automobile steering system
Figure BDA0002226903460000071
Wherein, JsTo the moment of inertia of the steering column, isIs the transmission ratio, delta is the front wheel angle, bsT is a steering column damping ratio and is acquired by an automobile driving state acquisition systemrFor steering wheel aligning torque, TzOutputting torque for a steering power-assisted system;
before a driver drives an automobile, the driver is firstly pretested to obtain the minimum steering wheel input torque M of the driver when the speed of the automobile is 50km/hgThe value of which and the steering torque M which the driver needs to apply to the steering wheel in order to overcome the resistance of the steering system of the vehicleaComparing, and setting the larger one as a first preset threshold value;
the standard driver steering wheel input torque is defined as a second predetermined threshold Mb of the driver assistance system, which is equal to
Figure BDA0002226903460000072
Wherein D isswIs the diameter of the steering wheel, R is the wheel radius, ipIs a steering power transmission ratio;
MRis a steering resisting moment with a value of
Figure BDA0002226903460000073
Wherein f is the sliding friction coefficient between the tire and the road surface, G is the steering shaft load of the steering system and is acquired by the automobile running state acquisition system, and p is the tire air pressure and is acquired by the automobile running state acquisition system;
ultimate steering wheel input moment M of drivercObtained by performing a prediction experiment on a driver;
the steering wheel moment input boundary value of the driver at the speed of 50km/h is obtained by performing AND test on the driver, and the boundary values are respectively M from large to smalld、Me；
When the driver operates the moment M to input, the driving state of the driver is preliminarily judged according to the moment range of the driver, and the judging method comprises the following steps:
1) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]e，Md]The input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And the vehicle speed is less than 40km/h and the input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And when the vehicle is more than 80km/h, judging that the driver drives normally;
2) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]a，Me]When the vehicle speed is more than 40km/h and less than 80km/h, judging that the driver is distracted to drive;
3) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]d，Mc]And judging that the driver drives aggressively when the vehicle speed is more than 80 km/h.
In the above scheme, the preliminary judgment method for the driver state judgment is subdivided into the following cases:
1) when the driver is judged to drive normally in the initial step, the system does not carry out auxiliary operation;
2) when the driver is judged to be distracted to drive in the initial step, the next judgment stage is carried out:
firstly, when the range of the front wheel rotation angle is detected to be 0-5 degrees, the distraction degree of a driver is judged to be C1, if the driver state acquisition module acquires at least one of the telephone answering behavior of the driver, the rightward rotation of the head of the driver is more than or equal to 90 degrees and the blinking frequency of the driver is less than 15 times per second, the system carries out noise alarm, seat vibration alarm and steering wheel vibration alarm;
secondly, when the range of the front wheel steering angle is detected to be 5-10 degrees, the distraction degree of the driver is judged to be C2, and the system carries out noise alarm and steering wheel vibration alarm;
thirdly, when the detected front wheel rotation angle is larger than 10 degrees, when the detected front wheel rotation angle is detected, whether the communication time between the driver and other passengers in the vehicle is more than or equal to 5 seconds, the time of watching the other passengers in the vehicle is more than or equal to 3 seconds, the right steering angle of the head of the driver is more than 90 degrees, and the direction of watching the child seat is more than or equal to 2 seconds or at least one of the two is detected, the passive distraction of the driver is judged, and the distraction degree of the driver is judged to be C3;
finally, when the head of the driver is detected to rotate, the driver looks sideways and does not rotate back to the front within 3 seconds, the driver is judged to be distracted actively, the distraction degree of the driver is judged to be C4, if the distraction driving is cancelled, the driving state of the driver is recovered, and the driver is judged to be driving normally;
3) when the driver is judged to drive intensively in the initial step, the next judgment stage is carried out:
firstly, when the driver operates an acquisition module to acquire that the input angular acceleration of a steering wheel of the driver is continuously increased within 1 second, judging that the state of the driver is D1, and carrying out noise alarm, pedal vibration alarm, seat vibration alarm and steering wheel vibration alarm by a system;
secondly, when the driver operation acquisition module acquires that the input angular acceleration of the steering wheel of the driver does not increase within 1 second, the state of the driver is judged to be D2, and the input angular acceleration value of the steering wheel of the driver is detected to be decreased within 3 seconds, and the system recovers the driving state of the driver and judges that the driver drives normally. Otherwise, the driver state decision D2 is maintained, and a noise warning and a seat vibration warning are performed.
In the above solution, the dynamic right-to-drive allocation device and the dynamic right-to-drive allocation method:
the dynamic driving right distribution device comprises a driver steering wheel torque input sensor, a dynamic driving right distribution electronic control element, a front wheel steering motor and a steering gear;
when a driver rotates a steering wheel, a driver steering wheel torque input sensor detects the input of the driver steering wheel torque, converts the input of the driver steering wheel torque into an electric signal and sends the electric signal to a dynamic allocation driving right electronic control element, the dynamic allocation driving right electronic control element calculates the torque which the front wheel steering motor should output according to a dynamic allocation driving right method set in the dynamic allocation driving right electronic control element, sends the electric signal to the front wheel steering motor, controls the front wheel steering motor to output the steering torque decided by the dynamic allocation driving right electronic control element, and controls a steering gear to finish steering.
When the driver driving state judging module judges that the driving state of the driver is C1 and C2, the driving right distribution module is started, when the driver rotates the steering wheel, the driver steering wheel torque input sensor sends the detected driver steering wheel input torque to the dynamic distribution driving right electronic control element, and the dynamic distribution driving right method set in the dynamic distribution driving right electronic control element is as follows: the driver inputs the torque M to the steering wheel so as to lead the driving right distribution coefficient of the driver
Figure BDA0002226903460000081
The driving weight distribution coefficient of the automobile system is
σ2＝1-σ1
The final steering wheel input torque is
MGeneral assembly＝σ1Mb+σ2M
In the above scheme, the method for fuzzy control of the automobile turning angle comprises the following steps:
when the system judges that the driving state of the driver is D1 and D2, a steering control module in the auxiliary driving system is started, the control method used by the module is a fuzzy control method, the fuzzy control method is output as the front wheel turning angle of the automobile, the fuzzy set of the front wheel turning angle is defined as Positive Big (PB), Positive Small (PS), normal (Z), Negative Small (NS) and negative small (NB), and the fuzzy rule is defined as follows, wherein V is the speed of the automobile, Y is the distance of the automobile from the center line of the road, PB is more deviated to the inner side of the road, PS is less deviated to the inner side of the road, Z is in the middle of the road, NS is less deviated to the outer side of the road, and NB is more deviated to the outer side of the road.
The fuzzy control rule is
Figure BDA0002226903460000091
In the above scheme, the human-computer co-driving effective judgment and coordination system includes a driver facial expression ratio extraction module, a human-computer co-driving effective judgment module, and a human-computer co-driving coordination module:
the facial expression ratio extraction module of the driver is used for receiving the current expression of the driver acquired by the facial expression acquisition module of the driver, analyzing and calculating the proportion of each expression of the anger expression, the happy expression, the sad expression, the surprised expression, the disgust expression, the fear expression and other expressions, and meeting the requirements of the angry expression ratio A, the happy expression ratio B, the sad expression ratio C, the surprised expression ratio D, the disgust expression ratio E, the fear expression ratio F, the tension expression ratio G and other expression ratios H of the driver
A+B+C+D+E+F+G+H＝1
The human-computer driving sharing effective judgment module is used for judging whether a human-computer driving sharing system is in a stable state or not, and the judgment method comprises the following steps:
when the happy expression proportion in the facial expressions of the driver is more than or equal to 50% extracted by the facial expression proportion extraction module of the driver, and when the happy expression proportion in the facial expressions of the driver is less than 50% but the happy expression proportion accounts for the most and the expression proportions except the happy expression are less than 10% extracted by the facial expression proportion extraction module of the driver, judging that the driving weight distribution decision and the front wheel turning angle decision executed by the assistant driving system are effective;
determining that the driving weight distribution decision and the front wheel steering angle decision executed by the assistant driving system fail to achieve the expected purpose under the conditions except the above conditions, namely that the driver is unsatisfied with the driving weight distribution decision and the front wheel steering angle decision executed by the assistant driving system;
the man-machine co-driving coordination module is used for adjusting the driving right distribution decision and the front wheel steering decision executed by the assistant driving system and observing the coordination method of happy expression proportion and nervous expression proportion in the facial expression proportion extraction module of the driver after decision adjustment when the man-machine co-driving effective judgment module judges that the driving right distribution decision and the front wheel steering decision executed by the assistant driving system by the driver are not satisfied:
when the driver is dissatisfied with the driving right distribution decision and the front wheel steering decision executed by the assistant driving system:
if the driver state is judged to be C1 and C2, the driving right distribution module is enabled to promote the driving right of the driver by 10 percent, after the driving right of the driver is promoted, when the facial expression proportion extraction module extracts that the happy expression proportion in the facial expressions of the driver is increased, the driver continues to promote the driving right of the driver by 10 percent until the happy expression proportion of the driver is more than or equal to 50 percent, the upper limit of the driving right of the driver is set to be 80 percent, and when the situation that the happy expression proportion of the driver is not increased after the driving right of the driver is promoted is detected, the situation that the driver is still unsatisfied with decision making of an auxiliary driving system is proved, the driving right distribution module is enabled to stop working;
if the state of the driver is judged to be C3, when the interaction degree detection module of the people in the automobile detects that the communication time between the driver and other passengers in the automobile is more than or equal to 5 seconds and the time of watching the other passengers in the automobile is more than or equal to 3 seconds, the driver is determined to be distracted and driven due to other reasons, and the longitudinal acceleration of the automobile is controlled to be less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively';
when the fact that the head of a driver turns rightwards at an angle larger than 90 degrees is detected, the direction of the driver watching the child seat is larger than or equal to 2 seconds, the tense expression proportion of the driver is larger than the happy expression proportion of the driver, the driving behavior of the driver is determined to be influenced by the child, and then the longitudinal acceleration of the automobile is controlled to be smaller than 0.8m/s2The yaw angular velocity is less than 4m/s2According to the age information of the children in the back row collected by the driver state collecting module, if the age of the children is in the range of 0-3 years old, carrying out conversation alarm and playing voice of 'please drive the driver to pay attention to the driving of the children';
if the age of the child is within the range of 4-8 years, carrying out conversation alarm and playing voice of 'please concentrate on driving' for the driver;
if the age of the child is 9 years old or more, carrying out conversation alarm and playing a voice of 'please keep the back row passenger quiet';
if the driver state is judged to be C4 at the moment, the driver is judged to be in active distraction driving, and the longitudinal acceleration of the automobile is controlled to be less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively';
if the driver state is judged to be D1 and D2 at the moment, the automobile driving state acquisition system acquires that the roll angle of the rear row child seat in the automobile is more than 20 degrees and the proportion of sad expressions of the children in the automobile is more than 50%, the automobile driving state acquisition system judges that the automobile driving state is a special case, a camera flickering alarm is carried out for 3 seconds, if the driver does not respond to the alarm, the camera flickering alarm is closed, the driving right distribution module stops working, the driver operates the automobile driving state acquisition system by himself, and only the lateral acceleration of the automobile is controlled to be less than 3m/s2The yaw angular velocity is less than 4m/s2And the front wheel steering angle is less than 30 degrees so as to ensure the safety of personnel in the vehicle, otherwise, the driving right is completely returned to the driver.
The above embodiments are merely illustrative of the design concepts and features of the present invention, and are not intended to limit the invention, and modifications and equivalents may be made without departing from the spirit and scope of the invention.

Claims (10)

1. A layered framework man-machine co-driving system based on a driver state is characterized by comprising an automobile driving state acquisition system, a personnel information acquisition system, an auxiliary driving system and a man-machine co-driving stability judgment and coordination system;
the automobile driving state acquisition system is used for acquiring the automobile speed, the steering shaft load and the tire air pressure of a steering system, the automobile lateral acceleration and the longitudinal acceleration, the vertical acceleration, the yaw angular velocity and the roll angle of an automobile and a child seat and the left front wheel steering angle information, and the right front wheel steering angle is obtained by obtaining the relation of the left front wheel steering angle under different tire air pressures through the calibration system;
the system comprises a personnel information acquisition system, a data processing system and a data processing system, wherein the personnel information acquisition system is used for acquiring the input torque of a steering wheel of a driver, the input corner of the steering wheel of the driver, the facial expression of the driver, the communication time of the driver with front and rear passengers and the sight time of the driver for the front and rear passengers;
the auxiliary driving system is used for judging the driving state of a driver according to the collected information output by the personnel information collection system, distributing the driving right of the driver and the auxiliary driving system when judging the distraction of the driver, controlling the front wheel turning angle of the automobile when judging the aggressive driving of the driver, and sending different alarms according to different specific conditions when judging the distraction of the driver or the aggressive driving by the judgment module;
and the man-machine co-driving stability judging and coordinating system is used for analyzing and calculating proportions of angry expressions, happy expressions, sad expressions, surprised expressions, disgust expressions, horror expressions and other expressions, and adjusting driving right distribution decisions and front wheel turning angle decisions executed by the driving assisting system when judging that a driver is unsatisfied with driving right distribution decisions and front wheel turning angle decisions executed by the driving assisting system.
2. The layered architecture man-machine co-driving system based on the driver state as claimed in claim 1, wherein the vehicle driving state acquisition system acquires left front wheel steering angle information by using a displacement sensor mounted on a suspension guide mechanism, and the right front wheel steering angle is obtained by obtaining a relation of the left front wheel steering angle under different tire air pressures through a calibration system, specifically:
θr＝k1θl 2+k2θl+b
wherein, thetarIs the right front wheel angle, thetalIs the angle of rotation of the left front wheel, k1、k2B is coefficient, the load of a steering shaft of the steering system is measured by using a strain gauge arranged on the steering shaft, the yaw rate and the roll angle of the automobile are detected by using a gyroscope arranged in the center of a chassis, and the vertical acceleration, the yaw rate and the roll angle of the child seat are measured by using a gyroscope arranged on the rear child seat, wherein the parameters are differentThe dynamic mass center position of the child seat taken by the child is obtained by performing parameter estimation and calculation on the weight information of the child and the height information of the child, and the lateral acceleration, the longitudinal acceleration and the vertical acceleration of the automobile are measured by using an acceleration sensor installed on the automobile.
3. The system for layered architecture man-machine co-driving based on the driver state of claim 1, wherein the personnel information collection system comprises a driver operation collection module, a driver state collection module, a driver facial expression collection module, and an in-vehicle personnel interaction degree detection module;
the driver operation acquisition module is used for periodically acquiring the input torque of a steering wheel and the input angular acceleration of the steering wheel of a driver by utilizing a torque sensor and an angular acceleration sensor which are arranged on a steering transmission mechanism, the current vehicle speed is set as v, the unit km/h, the data acquisition interval coefficient is set as z, and when v is greater than 140km/h, the value of z is 0.1; when v is 140km/h or less, it is as follows
Figure FDA0003095126030000011
According to the information of the turn angle input by the steering wheel of the driver, which is acquired by the personnel information acquisition system, if the turn angle input by the driver is less than 60 degrees, the data acquisition interval of two adjacent times is 0.1z second; if the steering wheel rotation angle input by the driver is more than or equal to 60 degrees and less than 120 degrees, the data acquisition interval between two adjacent times is 0.05z seconds; if the steering wheel rotation angle input by the driver is larger than or equal to 120 degrees, the data acquisition interval of two adjacent times is 0.02z seconds;
the system comprises a driver state acquisition module, a control module and a display module, wherein the driver state acquisition module is used for judging whether a driver has a behavior of answering a call by utilizing in-vehicle camera equipment and capturing the blinking frequency, the right head steering angle and the age of a rear child of the driver;
the driver facial expression acquisition module is used for acquiring angry expressions, happy expressions, sad expressions, surprised expressions, disgust expressions, fear expressions and nervous expressions which are presented by the face of a driver and acquiring whether children on the back row child seat have the sad expressions or not;
and the in-vehicle personnel interaction degree detection module is used for detecting the communication time of the driver with the front and rear row passengers and the time of the driver watching the front and rear row passengers.
4. The driver state-based layered architecture man-machine co-driving system as claimed in claim 1, wherein the auxiliary driving system comprises a driver driving state judgment module, a driving right distribution module, a steering control module, and an alarm module;
the driver driving state judging module is used for dividing the driving behavior of the driver into three conditions of normal, distraction and acceleration according to the information collected by the driver operation collecting module and the driver state collecting module;
the driving right distribution module is used for distributing the driving right of the driver and the auxiliary driving system when the driver driving state judgment module judges that the driver is distracted;
the steering control module is used for controlling the rotation angle of the front wheel of the automobile to be within the range of 0-40 degrees under the condition that the driver driving state judging module judges that the driver aggressively drives;
and the alarm module is used for carrying out noise alarm, pedal vibration alarm, seat vibration alarm, camera flickering alarm, steering wheel vibration alarm and conversation alarm when the driver driving state judgment module judges that the driver is distracted or drives violently, wherein the conversation alarm comprises voices of 'please pay attention to driving when the driver considers the child', 'please pay attention to driving', 'please keep the rear passengers quiet' and 'please slow down the driver'.
5. The system according to claim 4, wherein the driver driving state preliminary judgment method for the driver driving state judgment module to judge is as follows:
first preset threshold M of auxiliary driving systemaThe solution is that the driver needs to apply a steering torque to the steering wheel to overcome the resistance of the automobile steering system
Figure FDA0003095126030000023
Wherein, JsTo the moment of inertia of the steering column, isIs the transmission ratio, delta is the front wheel angle, bsT is a steering column damping ratio and is acquired by an automobile driving state acquisition systemrFor steering wheel aligning torque, TzOutputting torque for a steering power-assisted system; before a driver drives an automobile, the driver is firstly pretested to obtain the minimum steering wheel input torque Mg when the speed of the driver is 50km/h, the value of the minimum steering wheel input torque Mg and the steering torque M which is required to be applied to a steering wheel by the driver to overcome the resistance of an automobile steering systemaComparing, and setting the larger one as a first preset threshold value;
the standard steering wheel input torque of the driver is defined as a second preset threshold value M of the auxiliary driving systembHaving a value of
Figure FDA0003095126030000021
Wherein M isRTo the steering resisting moment, DswIs the diameter of the steering wheel, R is the wheel radius, ipIs a steering power transmission ratio of
Figure FDA0003095126030000022
Wherein f is the sliding friction coefficient between the tire and the road surface, G is the steering shaft load of the steering system and is acquired by the automobile running state acquisition system, and p is the tire air pressure and is acquired by the automobile running state acquisition system;
ultimate steering wheel input moment M of drivercObtained by performing a prediction experiment on a driver;
the steering wheel moment input boundary value of the driver at the speed of 50km/h is obtained by testing the driver, and the steering wheel moment input boundary values are respectively arranged from small to large as Md、Me；
When the driver operates the moment M to input, the driving state of the driver is preliminarily judged according to the moment range of the driver, and the judging method comprises the following steps:
1) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]e，Md]The input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And the vehicle speed is less than 40km/h and the input torque M of the steering wheel of the driver belongs to [ M ∈ [ ]a，Me]And when the vehicle speed is more than 80km/h, judging that the driver drives normally;
2) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]a，Me]When the vehicle speed is more than 40km/h and less than 80km/h, judging that the driver is distracted to drive;
3) when the input torque M of the steering wheel of the driver belongs to [ M ∈ ]d，Mc]And judging that the driver drives aggressively when the vehicle speed is more than 80 km/h.
6. The system for layered architecture man-machine co-driving based on driver status as claimed in claim 5, wherein the driver status preliminary judgment method is subdivided into the following cases:
1) when the driver is judged to drive normally in the initial step, the system does not carry out auxiliary operation;
2) when the driver is judged to be distracted to drive in the initial step, the next judgment stage is carried out:
firstly, when the range of the front wheel rotation angle is detected to be 0-5 degrees, the distraction degree of a driver is judged to be C1, if the driver state acquisition module acquires at least one of the telephone answering behavior of the driver, the rightward rotation of the head of the driver is more than or equal to 90 degrees and the blinking frequency of the driver is less than 15 times per second, the system carries out noise alarm, seat vibration alarm and steering wheel vibration alarm;
secondly, when the range of the front wheel steering angle is detected to be 5-10 degrees, the distraction degree of the driver is judged to be C2, and the system carries out noise alarm and steering wheel vibration alarm;
thirdly, when the detected front wheel rotation angle is larger than 10 degrees, when the detected front wheel rotation angle is detected, whether the communication time between the driver and other passengers in the vehicle is more than or equal to 5 seconds, the time of watching the other passengers in the vehicle is more than or equal to 3 seconds, the right steering angle of the head of the driver is more than 90 degrees, and the direction of watching the child seat is more than or equal to 2 seconds or at least one of the two is detected, the passive distraction of the driver is judged, and the distraction degree of the driver is judged to be C3;
finally, when the head of the driver is detected to rotate, the driver looks sideways and does not rotate back to the front within 3 seconds, the driver is judged to be distracted actively, the distraction degree of the driver is judged to be C4, if the distraction driving is cancelled, the driving state of the driver is recovered, and the driver is judged to be driving normally;
3) when the driver is judged to drive intensively in the initial step, the next judgment stage is carried out:
firstly, when the driver operates an acquisition module to acquire that the input angular acceleration of a steering wheel of the driver is continuously increased within 1 second, judging that the state of the driver is D1, and carrying out noise alarm, pedal vibration alarm, seat vibration alarm and steering wheel vibration alarm by a system;
secondly, when the driver operation acquisition module acquires that the input angular acceleration of the steering wheel of the driver is not increased within 1 second, the state of the driver is judged to be D2, and the input angular acceleration value of the steering wheel of the driver is detected to be decreased within 3 seconds, and the system recovers the driving state of the driver and judges that the driver drives normally; otherwise, the driver state decision D2 is maintained, and a noise warning and a seat vibration warning are performed.
7. The system of claim 4, wherein the driving right distribution module comprises a device and a method for dynamically distributing driving right, wherein the device comprises:
the dynamic driving right distribution device comprises a driver steering wheel torque input sensor, a dynamic driving right distribution electronic control element, a front wheel steering motor and a steering gear;
when a driver rotates a steering wheel, a driver steering wheel torque input sensor detects the input of the driver steering wheel torque and converts the input of the driver steering wheel torque into an electric signal to be sent to a dynamic allocation driving right electronic control element, the dynamic allocation driving right electronic control element calculates the torque which is required to be output by a front wheel steering motor according to a dynamic allocation driving right method set in the dynamic allocation driving right electronic control element, sends the electric signal to the front wheel steering motor, controls the front wheel steering motor to output the steering torque decided by the dynamic allocation driving right electronic control element, and controls a steering gear to complete steering;
when the driver driving state judging module judges that the driving state of the driver is C1 and C2, the driving right distribution module is started, when the driver rotates the steering wheel, the driver steering wheel torque input sensor sends the detected driver steering wheel input torque to the dynamic distribution driving right electronic control element, and the dynamic distribution driving right method set in the dynamic distribution driving right electronic control element is as follows: the driver inputs the torque M to the steering wheel so as to lead the driving right distribution coefficient of the driver
Figure FDA0003095126030000031
The driving weight distribution coefficient of the automobile system is
σ2＝1-σ1
The final steering wheel input torque is
MGeneral assembly＝σ1Mb+σ2M。
8. The system of claim 4, wherein the steering control module is configured to control the following steps:
when the system judges that the driving state of the driver is D1 and D2, a steering control module in the auxiliary driving system is started, the control method used by the module is a fuzzy control method, the fuzzy control method is output as the front wheel turning angle of the automobile, the fuzzy set of the front wheel turning angle is defined as Positive Big (PB), Positive Small (PS), normal (Z), Negative Small (NS) and Negative Big (NB), and the fuzzy rule is defined as the following, wherein V is the speed of the automobile, Y is the distance of the automobile from the center line of the road, PB is more deviated from the inner side of the road, PS is less deviated from the inner side of the road, Z is in the middle of the road, NS is more deviated from the outer side of the road, and NB is more deviated from the outer side of the road.
9. The system of claim 1, wherein in the system for judging and coordinating the stability of the driving of the human-computer-driven vehicle, the system for judging and coordinating the stability of the driving of the human-computer-driven vehicle comprises a driver facial expression ratio extraction module, a human-computer-driven vehicle effective judgment module and a human-computer-driven vehicle coordination module:
the facial expression ratio extraction module of the driver is used for receiving the current expression of the driver acquired by the facial expression acquisition module of the driver, analyzing and calculating the proportion of each expression of the anger expression, the happy expression, the sad expression, the surprised expression, the disgust expression, the fear expression and other expressions, and meeting the requirements of the angry expression ratio A, the happy expression ratio B, the sad expression ratio E, the surprised expression ratio F, the disgust expression ratio G, the fear expression ratio H, the tension expression ratio I and other expression ratios J of the driver
A+B+E+F+G+H+I+J＝1
The human-computer driving sharing effective judgment module is used for judging whether a human-computer driving sharing system is in a stable state or not, and the judgment method comprises the following steps:
when the happy expression proportion in the facial expressions of the driver is extracted by the facial expression proportion extraction module to be more than or equal to 50%, and when the happy expression proportion in the facial expressions of the driver is extracted by the facial expression proportion extraction module to be less than 50% but the happy expression proportion is the most and the expression proportions except the happy expressions are less than 10%, judging that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system are effective, and judging that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system cannot reach the expected purpose under other conditions, namely that the driving right distribution decision and the front wheel steering angle decision executed by the assistant driving system are unsatisfactory by the driver;
the man-machine co-driving coordination module is used for adjusting the driving right distribution decision and the front wheel steering decision executed by the assistant driving system and observing the coordination method of happy expression proportion and nervous expression proportion in the facial expression proportion extraction module of the driver after decision adjustment when the man-machine co-driving effective judgment module judges that the driving right distribution decision and the front wheel steering decision executed by the assistant driving system by the driver are not satisfied:
when the driver is dissatisfied with the driving right distribution decision and the front wheel steering decision executed by the assistant driving system:
if the driver state is judged to be C1 and C2, the driving right distribution module is enabled to promote the driving right of the driver by 10 percent, after the driving right of the driver is promoted, when the facial expression proportion extraction module extracts that the happy expression proportion in the facial expressions of the driver is increased, the driver continues to promote the driving right of the driver by 10 percent until the happy expression proportion of the driver is more than or equal to 50 percent, the upper limit of the driving right of the driver is set to be 80 percent, and when the situation that the happy expression proportion of the driver is not increased after the driving right of the driver is promoted is detected, the situation that the driver is still unsatisfied with decision making of an auxiliary driving system is proved, the driving right distribution module is enabled to stop working;
if the state of the driver is judged to be C3, when the interaction degree detection module of the people in the automobile detects that the communication time between the driver and other passengers in the automobile is more than or equal to 5 seconds and the time of watching the other passengers in the automobile is more than or equal to 3 seconds, the driver is determined to be distracted and driven due to other reasons, and the longitudinal acceleration of the automobile is controlled to be less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively'; when the fact that the head of a driver turns rightwards at an angle larger than 90 degrees is detected, the direction of the driver watching the child seat is larger than or equal to 2 seconds, the tense expression proportion of the driver is larger than the happy expression proportion of the driver, the driving behavior of the driver is determined to be influenced by the child, and then the longitudinal acceleration of the automobile is controlled to be smaller than 0.8m/s2The yaw angular velocity is less than 4m/s2According to the age information of the children in the back row collected by the driver state collecting module, if the age of the children is in the range of 0-3 years old, carrying out conversation alarm and playing voice of 'please drive the driver to pay attention to the driving of the children'; if the age of the child is within the range of 4-8 years, carrying out conversation alarm and playing voice of 'please concentrate on driving' for the driver; if the age of the child is 9 years old or more, carrying out conversation alarm and playing a voice of 'please keep the back row passenger quiet';
if the driver state is determined to be C4 at this time, and the driver is determined to be actively distracted, control is performedThe longitudinal acceleration of the brake car is less than 0.8m/s2The yaw angular velocity is less than 4m/s2Carrying out conversation alarm and playing voice of 'please drive driver to drive car attentively';
if the driver state is judged to be D1 and D2 at the moment, the automobile driving state acquisition system acquires that the roll angle of the rear row child seat in the automobile is more than 20 degrees and the proportion of sad expressions of the children in the automobile is more than 50%, the automobile driving state acquisition system judges that the automobile driving state is a special case, a camera flickering alarm is carried out for 3 seconds, if the driver does not respond to the alarm, the camera flickering alarm is closed, the driving right distribution module stops working, the driver operates the automobile driving state acquisition system by himself, and only the lateral acceleration of the automobile is controlled to be less than 3m/s2The yaw angular velocity is less than 4m/s2And the front wheel steering angle is less than 30 degrees so as to ensure the safety of personnel in the vehicle, otherwise, the driving right is completely returned to the driver.
10. The system of claim 1, wherein the system is capable of determining the ride comfort and handling stability of the vehicle and making adjustments by:
detecting the acceleration of the automobile in the vertical direction and the acceleration of the rear row child seat in the vertical direction, and if the acceleration of the rear row child seat in the vertical direction is lower than 70% of the acceleration of the automobile in the vertical direction, evaluating that the automobile has good running smoothness; if the acceleration of the rear row child seat in the vertical direction is more than or equal to 70% of the acceleration of the automobile in the vertical direction, and the proportion of the sad expressions of the children in the automobile is more than or equal to 50%, in order to take care of the low bearing capacity of the rear row children and reduce the sitting sense of the rear row children, the voice of 'please slow down and walk by the driver' is played until the proportion of the sad expressions of the children in the automobile is less than 50%;
detecting the roll angle of the automobile and the roll angle of the rear row child seat, and if the roll angle of the rear row child seat is lower than 50% of the roll angle value of the automobile, evaluating that the comfort of the automobile is good; if the roll angle of the rear row child seat is more than or equal to 50% of the roll angle value of the automobile and the proportion of the sad expressions of the children in the automobile is more than or equal to 50%, controlling the lateral acceleration of the automobile to be less than or equal to3m/s2Controlling the yaw angular speed of the child seat to be less than 4m/s2The proportion of the sadness expressions of the children in the car is less than 50 percent.
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